Catkin Must run on top of takeshi catkin (source /HSRPumas/catkindevel/setup.bash) (source /opt/ros/...)
clone this git
$ git clone https://github.com/takeshi-pumas/catkin_extras.git
$ cd catkin_extras
"build the catkin space containing Moveit, and the wrs arenas"
$ catkin_make
Source this new catkin space on top of Takeshi and/or tmc packages.
$ source devel/setup.bash
Consider adding this line to bashrc file.
if not , source must be done on every new terminal.
At this point autocomplete should be able to find the moveit launch files and the gazebo tmc wrs worlds.
Try typing
$ roslaunch hsrb_wrs_gazebo_launch
then hit tab for autocomplete you should be able to launch
or just $ roslaunch hsrb_wrs_gazebo_launch wrs_practice0_easy_tmc.launch
Gazebo (paused) is launched, hit play and open a new terminal ( remeber sourcing )
MOVEIT IS NOW INLCUDED IN LAUNCH;
$ python3 /src/smaches/ANY SMACH.py
PUMAS NAVIGATION IS NOW AVAILABLE
Check https://drive.google.com/file/d/1uc-GpoMxOQ_FcuZyGpvUkLoJWH-bGQGT/view?usp=sharing